CN221214815U - Combined driving mechanism for packaging box - Google Patents

Abstract

The utility model relates to a combined driving mechanism for a packaging box, which comprises a lining conveying and closing mechanism, a driving mechanism and a driving mechanism, wherein the lining conveying and closing mechanism is used for conveying a lining and can transfer the lining to the next working procedure; an outer package conveying mechanism; an outer packaging blanking and box opening mechanism; a box closing mechanism; the automatic feeding and discharging device also comprises a driving assembly which is respectively connected with the lining conveying page closing mechanism, the outer packing conveying mechanism, the outer packing discharging and box opening mechanism and the box closing mechanism and controls the synchronous operation of the lining conveying page closing mechanism, the outer packing conveying mechanism, the outer packing discharging and box opening mechanism and the box closing mechanism. The automatic box opening and closing device is compact and reasonable in structure and convenient to operate, the outer packaging discharging and opening mechanism, the outer packaging conveying mechanism and the box closing mechanism are synchronously controlled in a mechanical mode through the driving assembly, the automatic box opening and closing device is controlled in a mechanical mode, the layout is reasonable, all devices can be more coordinated, the overall stability is improved, all the devices are optimally adjusted, the devices can be better matched and used, the intelligent effect is achieved, the packaging can be automatically carried out, and the working efficiency is improved.

Description

Combined driving mechanism for packaging box

Technical Field

The utility model relates to the technical field of packaging, in particular to a combined driving mechanism for a packaging box.

Background

In packing carton conveying machinery field, in order to improve commodity packing effect, can carry out inside lining and extranal packing box packing simultaneously to commodity, traditional packing mode is assembled through the manual work, but along with technological high-speed development, derive various equipment for packing gradually, for example inside lining unloading packing, extranal unloading packing and various transfer chain, but hardly coordinate the operation in the in-service use, can carry out a series of operations such as material loading, lower inside lining, transport, close page to a commodity simultaneously, and each process adopts respective drive structure respectively, and each drive structure passes through electric signal connection, once the bug appears, will lead to whole system to appear disorder, still unfavorable investigation simultaneously.

For this purpose we propose a joint drive mechanism for the pack.

Disclosure of utility model

The inventor aims at the defects in the prior art, and provides a combined driving mechanism for a packaging box, which synchronously controls an outer package discharging and opening mechanism, an outer package conveying mechanism and a box closing mechanism in a mechanical mode through a driving assembly, controls the outer package discharging and opening mechanism, the outer package conveying mechanism and the box closing mechanism in a mechanical mode, has reasonable layout, can enable all devices to be more coordinated, and improves the working efficiency.

The technical scheme adopted by the utility model is as follows:

a joint drive mechanism for a package, comprising:

A liner conveying and closing mechanism for conveying the liner and transferring the liner to the next process;

an outer packing conveying mechanism for conveying the outer packing box and capable of receiving the inner liner conveyed by the box feeding mechanism;

the outer package discharging and opening mechanism is used for taking down the outer package and folding and conveying the outer package into the outer package conveying mechanism;

The two box closing mechanisms are positioned at two sides of the outer package conveying mechanism and used for closing the outer package boxes;

The automatic feeding and discharging device also comprises a driving assembly which is respectively connected with the lining conveying page closing mechanism, the outer packing conveying mechanism, the outer packing discharging and box opening mechanism and the box closing mechanism and controls the synchronous operation of the lining conveying page closing mechanism, the outer packing conveying mechanism, the outer packing discharging and box opening mechanism and the box closing mechanism.

Further, the lining conveying page closing mechanism comprises:

a first conveyor belt for conveying the liner movement;

And the box feeding mechanism is positioned at the tail end of the lining conveying and closing mechanism and used for transferring the lining to the next process.

Further, the box entering mechanism includes:

The telescopic inserting tongue mechanism is of a hollow structure and can stretch, is used for intermittently butting the lining conveying page closing mechanism with the outer packing conveying mechanism, comprises a fixed end connected to the first conveying belt, and is provided with a telescopic end which can stretch and retract, and the telescopic end stretches and contracts through control of a telescopic cylinder I;

the pushing rod can move along the telescopic tongue inserting mechanism and is used for conveying the lining on the conveying belt to the outer packing conveying mechanism, the pushing rod is connected to the connecting plate through the first sliding rail, the connecting plate spans the lining conveying page closing mechanism and the outer packing conveying mechanism, the connecting plate is connected with the first driving motor, and the first driving motor drives the first sliding rail to move through the belt wheel and belt assembly.

Further, the outer packaging blanking and box opening mechanism comprises:

The conveying belt III is provided with outer packaging boxes which are in an unfolding state and are stacked, and the front end of the conveying belt III is provided with a downward-inclined blanking section;

The first grabbing sucker is used for grabbing an outer packing box positioned at the lowest end of the blanking section, one end of the first grabbing sucker is connected with a second rotating shaft, the second rotating shaft is connected with a fourth driving rod through a second belt wheel transmission assembly to realize rotation of the first grabbing sucker, the second rotating shaft is movably sleeved with a first swing big arm, and a third driving rod for driving the first swing big arm to swing is connected to the side wall of the first swing big arm;

Snatch sucking disc two, it is used for snatching and snatchs the extranal packing box on the sucking disc one, snatchs the one end of sucking disc two and slides through slip track two, and is connected with driving arm one on snatching the sucking disc two and realizes initiative displacement, carries extranal packing box to extranal packing conveying mechanism on.

Further, the outer package conveying mechanism includes:

a frame;

The second conveying belts are two in number and distributed up and down and are used for clamping the outer packing boxes to move;

and the outer package conveying driving assembly is positioned at one end of the second conveying belt and used for driving the second conveying belt.

Further, the drive assembly includes:

The second driving motor drives the driving main shaft to rotate through the second chain;

the driving main shaft drives the first turntable and the second turntable to rotate respectively, and is connected with the reversing speed reducer through the third chain, and drives the first box closing drive and the second box closing drive to rotate through the fourth chain;

The reversing speed reducer drives the driving shaft to rotate through a chain five, and one end of the driving shaft is connected with a lining conveying drive for driving the lining conveying page closing mechanism to work;

The driving shaft drives the outer package conveying driving shaft to rotate through a chain six, and the outer package conveying driving shaft is connected with the outer package conveying driving assembly;

An annular groove is formed in the end face of the first turntable, a driving arm IV is connected in the annular groove in a sliding manner, and the other end of the driving arm IV is connected with the driving arm I and used for driving the grabbing sucker II to move;

Annular grooves are respectively formed in the two ends of the second rotary table, a second driving arm and a third driving arm are respectively connected in the annular grooves in a sliding mode, the other end of the second driving arm is connected with a fourth driving rod to drive the first grabbing sucker to rotate, and the other end of the third driving arm is connected with the third driving rod to drive the first grabbing sucker to swing.

The beneficial effects of the utility model are as follows:

The automatic box opening and closing device is compact and reasonable in structure and convenient to operate, the outer packaging discharging and opening mechanism, the outer packaging conveying mechanism and the box closing mechanism are synchronously controlled in a mechanical mode through the driving assembly, the automatic box opening and closing device is controlled in a mechanical mode, the layout is reasonable, all devices can be more coordinated, the overall stability is improved, all the devices are optimally adjusted, the devices can be better matched and used, the intelligent effect is achieved, the packaging can be automatically carried out, and the working efficiency is improved.

The method also has the following beneficial effects:

The second driving motor drives each device to work, so that accurate butt joint of each device can be realized, for example: the lining on the lining conveying closing mechanism can be conveniently inserted into an outer packing box in the outer packing conveying mechanism; the first grabbing sucker is in butt joint with the second grabbing sucker smoothly, and the outer packing box can be opened and conveyed to the outer packing conveying mechanism smoothly. At the same time, the two closing drives can close the hinge of the external packing box.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

FIG. 2 is a block diagram of the liner feed closing mechanism of the present utility model.

Fig. 3 is a schematic structural view of the telescopic tongue mechanism of the present utility model.

Fig. 4 is a schematic diagram of the combined structure of the outer package blanking and opening mechanism and the outer package conveying mechanism.

Fig. 5 is a block diagram of an outer package blanking and box opening mechanism of the present utility model.

Fig. 6 is a schematic view of the partial structures of the outer package blanking and opening mechanism and the outer package conveying mechanism of the present utility model.

Fig. 7 is a schematic view of a part of the structure of fig. 1 according to the present utility model.

Fig. 8 is a front view of the drive assembly of the present utility model.

Fig. 9 is a top view of the drive assembly of the present utility model.

Fig. 10 is a schematic perspective view of a driving assembly according to the present utility model.

Wherein:

100. A lining conveying page closing mechanism; 200. a lining blanking and box opening mechanism; 300. a material conveying mechanism; 400. a transfer mechanism; 500. an outer packaging blanking and box opening mechanism; 600. an outer package conveying mechanism; 700. a box closing mechanism; 800. a drive assembly;

101. A first conveyer belt; 102. supporting and isolating; 103. a gear lever; 104. a first hinge lifting rod; 105. a first top plate; 106. a second hinge lifting rod; 107. the top plate is an adjusting mechanism; 108. a folding and folding mechanism; 109. a second top plate; 110. a top plate II adjusting mechanism; 111. a telescopic tongue inserting mechanism; 1111. a fixed end; 1112. a telescoping end; 1113. a telescopic cylinder I; 112. a push rod; 113. a first sliding rail; 114. a connecting plate; 115. driving a first motor;

501. A third conveyer belt; 5011. a ratchet wheel; 5012. a telescopic cylinder II; 502. a blanking section; 503. a height adjusting mechanism; 504. grabbing a first sucker; 505. swinging a first large arm; 506. a third driving rod; 507. a second rotating shaft; 508. grabbing a second sucker; 509. a first driving arm; 510. sliding rails II; 511. a driving rod IV;

601. a frame; 602. an outer package conveying and driving assembly; 603. a second conveyer belt;

801. A second driving motor; 802. a second chain; 803. driving a main shaft; 804. a third chain; 805. a reversing speed reducer; 806. driving the slave shaft; 807. lining conveying driving; 808. the closing box drives one; 809. an outer package conveying driving shaft; 810. closing the box drive II; 811. a first turntable; 812. a second turntable; 813. a second driving arm; 814. a third driving arm; 815. and a driving arm.

Detailed Description

The following describes specific embodiments of the present utility model with reference to the drawings.

As shown in fig. 1-10, the embodiment discloses a combined driving mechanism for a packaging box, which comprises a lining conveying and closing mechanism 100, a lining blanking and opening mechanism 200, a material conveying mechanism 300, a transferring mechanism 400, an outer packaging and blanking and opening mechanism 500, an outer packaging conveying mechanism 600, a closing mechanism 700 and a driving assembly 800, wherein the driving assembly 800 can synchronously control the outer packaging and blanking and opening mechanism 500, the outer packaging conveying mechanism 600 and the closing mechanism 700, and the combined driving mechanism is mechanically controlled and has reasonable layout, so that all devices are more coordinated, and the working efficiency is improved.

Wherein, the concrete;

As shown in fig. 2, in the present embodiment, the liner conveying closing mechanism 100 is used for conveying the liner and can close the box for the liner, and the liner conveying closing mechanism 100 further comprises a box feeding mechanism, which is located at the end of the liner conveying closing mechanism 100 and is used for transferring the liner to the next process;

In another embodiment, the lining conveying closing mechanism 100 comprises a conveying belt one 101, a gear lever 103, a first folding lifting rod 104, a first top plate 105, a second folding lifting rod 106, a first top plate adjusting mechanism 107, a folding and folding mechanism 108, a second top plate 109, a second top plate adjusting mechanism 110 and a box feeding mechanism, can fold and fold the two sides of the lining and the folding at the top of the lining in the moving process, can simultaneously convey the lining behind the box cover to the next process for packaging, and improves the working efficiency.

The specific structure is shown in fig. 6, a first conveying belt 101 is used for conveying the inner lining, a plurality of groups of supporting partitions 102 which are distributed at equal intervals are arranged on the first conveying belt, the first conveying belt is used for positioning the inner lining and folding the inner lining part structure to contain materials, and when the inner lining is in actual use, the partition positions are adjustable and can be adapted to different inner linings;

a stop lever 103, which is positioned at the front end of the first conveyor belt 101 and is used for touching the inner liner and driving the hinge to turn over;

The number of the first folding lifting rods 104 is two, the first folding lifting rods are distributed on two sides of the first conveying belt 101, and the folding on two sides of the lining is turned upwards for a certain angle;

A top plate 105 is positioned above the first conveyor belt 101 and is used to fold the liner up against a hinge in the direction of travel of the first conveyor belt 101;

The number of the second folding lifting rods 106 is two, and the second folding lifting rods are positioned at the rear end of the first folding lifting rod 104 to turn over the lining folding to be nearly vertical;

A top plate one adjusting mechanism 107 connected between the top plate one 105 and the conveyer belt one 101 through a screw mechanism for adjusting the height of the top plate one 105 to adapt to different inner liners;

The folding and folding mechanism 108 comprises two telescopic rods which are oppositely arranged, and the two telescopic rods are horizontally distributed on two sides of the conveyer belt one 101 and are used for turning the folding paper on two sides of the inner liner;

The second top plate 109 is positioned at the upper end of the first conveyor belt 101 and used for limiting the upward turning of the hinges at two sides;

the second top plate adjusting mechanism 110 is connected between the second top plate 109 and the first conveyor belt 101 through a screw mechanism and is used for controlling the height of the second top plate 109 so as to adapt to different inner liners.

In this embodiment, as shown in fig. 6 and 7, the box-in mechanism includes a telescopic tongue mechanism 111, a push rod 112, and a telescopic cylinder one 1113 and a driving motor one 115 for controlling the telescopic tongue mechanism 111 to expand and control the push rod 112 to move.

The telescopic inserting tongue mechanism 111 is of a hollow structure and can be telescopic, and is used for intermittently butting the lining conveying closing mechanism 100 with the outer packing conveying mechanism 600, and comprises a fixed end 1111 connected to the first conveying belt 101, a telescopic end 1112 capable of telescopic is arranged on the fixed end 1111, and the telescopic end 1112 is controlled by a telescopic cylinder 1113 to be telescopic;

The push rod 112 can move along the telescopic tongue inserting mechanism 111 and is used for conveying the liner on the first conveying belt 101 to the outer packing conveying mechanism 600, the push rod 112 is connected to the connecting plate 114 through the first sliding rail 113, the connecting plate 114 spans the liner conveying page closing mechanism 100 and the outer packing conveying mechanism 600, the connecting plate 114 is connected with the first driving motor 115, and the first driving motor 115 drives the first sliding rail 113 to move through the belt pulley assembly.

In actual use, the telescopic tongue inserting mechanism 111 can extend into the outer packaging box in the outer packaging conveying mechanism 600 along with the telescopic, the folding paper of the outer packaging box is expanded, and the inner liner filled with materials is conveniently matched with the push rod 112 and conveyed into the outer packaging box.

A material conveying mechanism 300 for conveying a material;

An over-packing transport mechanism 600 for transporting the over-packing box and capable of receiving the liner transported by the box-in mechanism;

The outer package discharging and opening mechanism 500 is used for taking off the outer package and folding and conveying the outer package into the outer package conveying mechanism 600;

The closing mechanism 700 is provided in two and is located on both sides of the outer package conveying mechanism 600 for closing the outer package.

As shown in fig. 4 to 6, in the present embodiment, the outer package blanking and opening mechanism 500 includes:

The conveying belt three 501 is provided with an outer packing box which is in an unfolding state (namely in a paper sheet shape) and stacked, the front end of the conveying belt three 501 is provided with a downward-inclined blanking section 502, one end belt pulley of the conveying belt three 501, which is close to the blanking section 502, is provided with a belt pulley which can only rotate unidirectionally, the two ends of the conveying belt three 501 are provided with belt pulleys, the belt pulley, which is close to one side of the blanking section 502, is provided with a ratchet, the ratchet is matched with the ratchet 5011, one end of the ratchet 5011 is connected with a telescopic cylinder two 5012 through a rotating arm, the telescopic cylinder two 5012 can drive the ratchet 5011 to rotate unidirectionally, and the outer packing boxes on the conveying belt three 501 are fed one by one along with the unidirectional rotation of the ratchet 5011, and compared with the prior feeding mode, the feeding mode is more accurate;

the side wall of the blanking section 502 is provided with a height adjusting mechanism 503 which can adjust the height according to the outer packing box;

a first grabbing sucker 504, which is used for grabbing an outer packing box positioned at the lowest end of the blanking section 502, one end of the first grabbing sucker 504 is connected with a second rotating shaft 507, the second rotating shaft 507 is connected with a fourth driving rod 511 through a second belt wheel transmission assembly to realize the rotation of the first grabbing sucker 504,

The second rotating shaft 507 is movably sleeved with a first swing large arm 505, and the side wall of the first swing large arm 505 is connected with a third driving rod 506 for driving the first swing large arm to swing;

The pulley transmission assembly II comprises a plurality of pulleys which are rotatably connected to the swing big arm I505, and the pulleys are transmitted through belts, so that the rotation shaft II 507 is driven to rotate.

And the grabbing sucker I508 is used for grabbing the outer packing box on the grabbing sucker I504, and when the grabbing sucker II 508 grabs the outer packing box on the grabbing sucker I504, the grabbing sucker I504 rotates and is used for opening the unfolded outer packing box to form a box shape.

One end of the second grabbing sucker 508 slides through the second sliding rail 510, and a first driving arm 509 is connected to the second grabbing sucker 508 to realize active displacement to convey the opened outer package box to the outer package conveying mechanism 600.

As shown in fig. 1, 4, and 7, in the present embodiment, the outer package conveyance mechanism 600 includes:

a frame 601;

The two conveying belts 603 are distributed up and down and used for clamping the outer packing boxes to move;

The outer package conveying driving assembly 602 is located at one end of the conveying belt II 603 and used for driving the conveying belt II 603.

In this embodiment, the main innovation point further includes a driving assembly 800, which is respectively connected with the liner conveying and page closing mechanism 100, the outer package conveying mechanism 600, the outer package blanking and box opening mechanism 500 and the box closing mechanism 700, and controls the synchronous operation of the two mechanisms, so that the mutual coordination work of the two devices can be ensured, and the overall stability is improved.

As shown in fig. 7 to 10, in the present embodiment, the driving assembly 800 includes:

a second driving motor 801 which drives the driving spindle 803 to rotate through a second chain 802;

The driving main shaft 803 drives the first rotary table 811 and the second rotary table 812 to rotate respectively, meanwhile, the reversing speed reducer 805 is connected through the third chain 804, and the first box closing drive 808 and the second box closing drive 810 are driven to rotate through the fourth chain;

A reversing speed reducer 805, which drives the driving shaft 806 to rotate through a chain five, and one end of the driving shaft 806 is connected with a lining conveying drive 807 for driving the lining conveying page closing mechanism 100 to work;

The driving shaft 806 drives the outer package conveying driving shaft 809 to rotate through a chain six, and the outer package conveying driving shaft 809 is connected with the outer package conveying driving assembly 602;

An annular groove is formed in the end face of the first 811 turntable, a fourth 815 drive arm is slidably connected in the annular groove, and the other end of the fourth 815 drive arm is connected with the first 509 drive arm and is used for driving the second 508 grabbing sucker to move;

Annular grooves are respectively formed in two ends of the second turntable 812, a second driving arm 813 and a third driving arm 814 are respectively connected in the annular grooves in a sliding mode, the other end of the second driving arm 813 is connected with a fourth driving rod 511 to drive the first grabbing sucker 504 to rotate, and the other end of the third driving arm 814 is connected with a third driving rod 506 to drive the first grabbing sucker 504 to swing.

The second driving motor 801 drives each device to work, so that accurate butt joint of each device can be realized, for example:

The liner on liner delivery closing mechanism 100 can be conveniently inserted into the overpack box within overpack delivery mechanism 600;

The smooth docking of the first grip suction cup 504 and the second grip suction cup 508 enables the outer package to be opened and smoothly transported into the outer package transport mechanism 600.

At the same time, the two closing drives can close the hinge of the external packing box.

The above description is intended to illustrate the utility model and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the utility model.

Claims (6)

1. A joint drive mechanism for a package, comprising:

a liner transfer closing mechanism (100) for transferring the liner to a next process;

An outer packing transport mechanism (600) for transporting the outer packing box and capable of receiving the liner transported by the box-in mechanism;

The outer package discharging and opening mechanism (500) is used for taking off the outer package and folding and conveying the outer package into the outer package conveying mechanism (600);

The box closing mechanisms (700) are two in number and are positioned at two sides of the outer package conveying mechanism (600) and used for closing the outer package boxes;

The automatic feeding and discharging device also comprises a driving assembly (800) which is respectively connected with the lining conveying page closing mechanism (100), the outer package conveying mechanism (600), the outer package discharging and box opening mechanism (500) and the box closing mechanism (700) and controls the synchronous operation of the lining conveying page closing mechanism, the outer package conveying mechanism, the outer package discharging and box opening mechanism and the box closing mechanism.

2. A combined drive mechanism for a package as claimed in claim 1, wherein: the lining conveying page closing mechanism (100) comprises:

A first conveyor belt (101) for conveying liner movements;

And the box feeding mechanism is positioned at the tail end of the lining conveying page closing mechanism (100) and used for transferring the lining to the next process.

3. A combined drive mechanism for a package as claimed in claim 2, wherein: the box entering mechanism comprises:

The telescopic inserting tongue mechanism (111) is of a hollow structure and can be telescopic, is used for intermittently butting the lining conveying page closing mechanism (100) with the outer packing conveying mechanism (600), comprises a fixed end (1111) connected to the conveying belt I (101), a telescopic end (1112) capable of being telescopic is arranged on the fixed end (1111), and the telescopic end (1112) is controlled by a telescopic cylinder I (1113) to be telescopic;

The push rod (112) can move along the telescopic inserting tongue mechanism (111) and is used for conveying the liner positioned on the conveying belt I (101) to the outer package conveying mechanism (600), the push rod (112) is connected to the connecting plate (114) through the sliding rail I (113), the connecting plate (114) spans the liner conveying page closing mechanism (100) and the outer package conveying mechanism (600), the connecting plate (114) is connected with the driving motor I (115), and the driving motor I (115) drives the sliding rail I (113) to move through the belt pulley and belt assembly.

4. A combined drive mechanism for a package as claimed in claim 3, wherein: the outer packaging blanking and box opening mechanism (500) comprises:

the conveying belt III (501) is provided with outer packaging boxes which are in an unfolding state and are stacked, and the front end of the conveying belt III (501) is provided with a downward-inclined blanking section (502);

The first grabbing sucker (504) is used for grabbing an outer packing box positioned at the lowest end of the blanking section (502), one end of the first grabbing sucker (504) is connected with a second rotating shaft (507), the second rotating shaft (507) is connected with a fourth driving rod (511) through a second belt wheel transmission assembly to realize rotation of the first grabbing sucker (504), the second rotating shaft (507) is movably sleeved with a first swinging large arm (505), and a third driving rod (506) for driving the first swinging large arm (505) to swing is connected to the side wall of the first swinging large arm;

The grabbing sucker II (508) is used for grabbing an external packing box on the grabbing sucker I (504), one end of the grabbing sucker II (508) slides through the sliding track II (510), and the grabbing sucker II (508) is connected with the driving arm I (509) to realize active displacement, so that the external packing box is conveyed to the external packing conveying mechanism (600).

5. A joint drive mechanism for a package as defined in claim 4, wherein: the outer package conveying mechanism (600) comprises:

a frame (601);

the two conveying belts (603) are distributed up and down and used for clamping the outer packing boxes to move;

and the outer package conveying driving assembly (602) is positioned at one end of the conveying belt II (603) and used for driving the conveying belt II (603).

6. A combined drive mechanism for a package as claimed in claim 5, wherein: the drive assembly (800) includes:

The second driving motor (801) drives the driving main shaft (803) to rotate through the second chain (802);

The driving main shaft (803) drives the first turntable (811) and the second turntable (812) to rotate respectively, and meanwhile, the reversing speed reducer (805) is connected through the third chain (804), and the fourth chain drives the first box closing drive (808) and the second box closing drive (810) to rotate;

A reversing speed reducer (805) which drives the driving shaft (806) to rotate through a chain five, and one end of the driving shaft (806) is connected with a lining conveying drive (807) which drives the lining conveying page closing mechanism (100) to work;

The driving shaft (806) drives the outer package conveying driving shaft (809) to rotate through a chain six, and the outer package conveying driving shaft (809) is connected with the outer package conveying driving assembly (602);

An annular groove is formed in the end face of the first rotary table (811), a fourth driving arm (815) is connected in the annular groove in a sliding mode, and the other end of the fourth driving arm (815) is connected with the first driving arm (509) and used for driving the second grabbing sucker (508) to move;

Annular grooves are respectively formed in the two ends of the second turntable (812), a second driving arm (813) and a third driving arm (814) are respectively connected in the annular grooves in a sliding mode, the other end of the second driving arm (813) is connected with a fourth driving rod (511) to drive the first grabbing sucker (504) to rotate, and the other end of the third driving arm (814) is connected with a third driving rod (506) to drive the first grabbing sucker (504) to swing.